Player Tutorial

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Player Tutorial

• Boyoon Jung
• Robotic Embedded Systems Lab
• Robotics Research Lab
• Center for Robotics and Embedded Systems

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Player/Stage/Gazebo

• Player
• Device server that provides a powerful, flexible
  interface to a variety of sensors and actuators
• Stage
• 2D, multi-robot simulator
• Gazebo
• 3D, dynamic, multi-robot simulator

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Robot Programming
User Program
PCI
Camera
Sensory Data Acquisition
USB
Laser
Serial
Planner
Sonar

Odometry
Motor Command Generation
Desired Motion
Motors
Serial Canbus
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Player a device server
Player
User Program
PCI
Camera
Sensory Data Acquisition
USB
Laser
Serial
Planner
Sonar

Odometry
Motor Command Generation
Desired Motion
Motors
Serial Canbus
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Client / Server Model
Player Server Device driver
Interface
Player Client Library C/C C Java Tcl Python
Ruby Lisp Octave
TCP/IP
SICK LMS 200
Data
laser
sicklms200
SICK PLS
laser
Configuration
sickpls
User Program
Command
position
Pioneer
p2os
position
Segway
segwayrmp
IPC
position
Khepera
khepera
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Hardware Abstraction
Player Client Library C/C C Java Tcl Python
Ruby Lisp Octave
Player Server
Robot Hardware
Player Server
Stage Simulator
User Program
Gazebo Simulator
Player Server
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Communication
Player Client Library
Player Server

1. Establish connection
2. Subscribe device(s)
3. Sensor data
4. Actuator commands

User Program
Robot Hardware
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Running Player

• Building and installation
• http//playerstage.sourceforge.net
• ./configure
• make
• make install
• Execution
• player p ltportgt ltconfig filegt
• playerv hostnameport
• playerjoy hostnameport

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Player config file
Player Server
blobfinder0 ( driver acts
devicepath/dev/video0 channel 0 ) laser0
( driver sicklms200 port /dev/ttyS1
resolution 50 ) position0 ( driver
p2os_position port /dev/ttyS0
max_xspeed 500 )
Camera
Laser
Motors
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Player Programming

• Player client libraries
• C (libplayerc), C (libplayerclient), Tcl
  (tclPlayer), etc.
• Programming step
• Establish connection.
• Subscribe device(s).
• Read sensory data.
• Processing.
• Send motor command.

Repeat
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Example Code

• PLAYER/examples/c/laserobstacleavoid.cc

include ltplayerclient.hgt char host256
localhost int port PLAYER_PORTNUM //
6665 int main(int argc, char argv) // 1.
Establish connection PlayerClient robot(host,
port) // 2. Subscribe device(s)
PositionProxy pp(robot, 0, w) LaserProxy
lp(robot, 0, r)
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for () // repeat // 3. Read
sensory data if (robot.Read()) exit(1) //
4. Procesing ... double l (1e5minR)/500
100 double r (1e5minL)/500 100 newspeed
(r1)/1e3 newturnrate (r-l)/1e3 newturnrat
e DTOR(min(newturnrate, 40)) newturnrate
DTOR(max(newturnrate, -40)) // 5. Send motor
commands pp.SetSpeed(newspeed, newturnrate)

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Player an algorithm repository
Player
User Program
PCI
Camera
Sensory Data Acquisition
USB
Laser
Serial
Sonar
Planner

Odometry
Motor Command Generation
Desired Motion
Motors
Serial Canbus
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Computational devices

• amcl (Adaptive Monte-Carlo Localization)
• vfh (Vector Field Histogram)

position
amcl
localize
laser / sonar / wifi
map
position
position
vfh
lase
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Player

• A device server
• Hardware abstraction
• Network transparency
• Language independence
• An algorithm repository